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Dynamical System (DS) based Learning from Demonstration (LfD) allows learning of reactive motion policies with stability and convergence guarantees from a few trajectories. Yet, current DS learning techniques lack the flexibility to…

While Reinforcement Learning (RL) has achieved remarkable success in language modeling, its triumph hasn't yet fully translated to visuomotor agents. A primary challenge in RL models is their tendency to overfit specific tasks or…

Generalizing robotic manipulation across object poses, viewpoints, and dynamic disturbances is difficult, especially with only a few demonstrations. End-to-end visuomotor policies are expressive but data-hungry, while planning and…

Modeling of real-world biological multi-agents is a fundamental problem in various scientific and engineering fields. Reinforcement learning (RL) is a powerful framework to generate flexible and diverse behaviors in cyberspace; however,…

In recent years, a variety of tasks have been accomplished by deep reinforcement learning (DRL). However, when applying DRL to tasks in a real-world environment, designing an appropriate reward is difficult. Rewards obtained via actual…

Given the inherent non-stationarity prevalent in real-world applications, continual Reinforcement Learning (RL) aims to equip the agent with the capability to address a series of sequentially presented decision-making tasks. Within this…

Understanding the dynamic relationship between humans and the built environment is a key challenge in disciplines ranging from environmental psychology to reinforcement learning (RL). A central obstacle in modeling these interactions is the…

Our work aims at efficiently leveraging ambiguous demonstrations for the training of a reinforcement learning (RL) agent. An ambiguous demonstration can usually be interpreted in multiple ways, which severely hinders the RL-Agent from…

The conventional success of textual classification relies on annotated data, and the new paradigm of pre-trained language models (PLMs) still requires a few labeled data for downstream tasks. However, in real-world applications, label noise…

We extend the learning from demonstration paradigm by providing a method for learning unknown constraints shared across tasks, using demonstrations of the tasks, their cost functions, and knowledge of the system dynamics and control…

Learning diverse skills for quadruped robots presents significant challenges, such as mastering complex transitions between different skills and handling tasks of varying difficulty. Existing imitation learning methods, while successful,…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…

Robotic assembly presents a long-standing challenge due to its requirement for precise, contact-rich manipulation. While simulation-based learning has enabled the development of robust assembly policies, their performance often degrades…

Reinforcement learning (RL) has emerged as an effective post-training paradigm for enhancing the reasoning capabilities of multimodal large language model (MLLM). However, current RL pipelines often suffer from training inefficiencies…

A longstanding goal in character animation is to combine data-driven specification of behavior with a system that can execute a similar behavior in a physical simulation, thus enabling realistic responses to perturbations and environmental…

Unsupervised skill discovery carries the promise that an intelligent agent can learn reusable skills through autonomous, reward-free environment interaction. Existing unsupervised skill discovery methods learn skills by encouraging…

Vision-based reinforcement learning (RL) is a promising technique to solve control tasks involving images as the main observation. State-of-the-art RL algorithms still struggle in terms of sample efficiency, especially when using image…

Several methods exist for teaching robots, with one of the most prominent being Learning from Demonstration (LfD). Many LfD representations can be formulated as constrained optimization problems. We propose a novel convex formulation of the…

Offline reinforcement learning (RL) offers a promising framework for training agents using pre-collected datasets without the need for further environment interaction. However, policies trained on offline data often struggle to generalise…